No. The ARMv6 will never be supported by MATLAB Compiler Runtime. I cannot predict as yet whether the ARMv7 will ever be supported; perhaps by R2019b, but it would not surprise me if the ARMv8 is the lowest ARM version that will ever be supported.
By the way, you asked the wrong question. MATLAB is already able to generate code for Raspberry Pi. But the MATLAB Compiler Runtime is only used for systems that MATLAB itself will run on, so the question you asked is the same as asking whether MATLAB itself will be ported to run on Raspberry Pi.
You can create Simulink models to run on Raspberry Pi and those models can use Computer Vision Toolbox blocks and can call Embedded MATLAB functions that call upon Computer Vision Toolbox routines. This is not the same technology as using MATLAB Compiler and MCR.